Lexus RX (2023 year). Manual in english

285

4-5. Using the driving support systems

Driving

■

Operating conditions of each function of the pre-collision system

The pre-collision system is enabled and the system determines that the possibility of a frontal

collision with a detected object is high.
However, the system will not operate in the following situations:

●

When the vehicle has not been driven a certain amount after a terminal of the 12-volt bat-

tery has been disconnected and reconnected

●

When the shift position is in R

●

When the VSC OFF indicator is illuminated (only the pre-collision warning function will

be operational)

The following are the operational speeds and cancelation conditions of each function:

●

Pre-collision warning

While the pre-collision warning is operating, if the steering wheel is operated heavily or sud-

denly, the pre-collision warning may be cancelled.

PCS
version

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

1/2

Preceding vehicles,
stopped vehicles

Approximately 5 to 180
km/h (3 to 110 mph)

Preceding vehicles,
stopped vehicles

Approximately 10 to 180
km/h (7 to 110 mph)

Oncoming vehicles

Approximately 30 to 180
km/h (20 to 110 mph)

Approximately 80 to 220
km/h (50 to 130 mph)

1/2

Bicycles

Approximately 5 to 80
km/h (3 to 50 mph)

1/2

Pedestrians

Approximately 5 to 80
km/h (3 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 5 to 180
km/h (3 to 110 mph)

Approximately 5 to 80
km/h (3 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 5 to 80
km/h (3 to 50 mph)

Oncoming motorcycles

Approximately 30 to 180
km/h (20 to 110 mph)

286

4-5. Using the driving support systems

●

Pre-collision brake assist

●

Pre-collision braking

If either of the following occur while the pre-collision braking function is operating, it will be

canceled:
• The accelerator pedal is strongly depressed

PCS
version

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

1/2/3

Preceding vehicles,
stopped vehicles

Approximately 30 to 180
km/h (20 to 110 mph)

Approximately 10 to 180
km/h (7 to 110 mph)

1/2

Bicycles

Approximately 30 to 80
km/h (20 to 50 mph)

1/2

Pedestrians

Approximately 30 to 80
km/h (20 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 30 to 180
km/h (20 to 110 mph)

Approximately 10 to 80
km/h (7 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 30 to 80
km/h (20 to 50 mph)

Approximately 10 to 80
km/h (7 to 50 mph)

PCS
version

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

1/2

Preceding vehicles,
stopped vehicles

Approximately 5 to 180
km/h (3 to 110 mph)

Preceding vehicles,
stopped vehicles

Approximately 10 to 180
km/h (7 to 110 mph)

Oncoming vehicles

Approximately 30 to 180
km/h (20 to 110 mph)

Approximately 80 to 220
km/h (50 to 130 mph)

1/2

Bicycles

Approximately 5 to 80
km/h (3 to 50 mph)

1/2

Pedestrians

Approximately 5 to 80
km/h (3 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 5 to 180
km/h (3 to 110 mph)

Approximately 5 to 80
km/h (3 to 50 mph)

Preceding motorcycles,
stopped motorcycles

Approximately 5 to 80
km/h (3 to 50 mph)

Oncoming motorcycles

Approximately 30 to 180
km/h (20 to 110 mph)

287

4-5. Using the driving support systems

Driving

• The steering wheel is operated heavily or suddenly

●

Emergency steering assist

The emergency steering assist will not operate when the turn signal lights are flashing.

: Minimum vehicle speed: Vehicle speed at which evasion using pre-collision brake con-

trol is difficult

While the emergency steering assist is operating, if any of the following are performed,

emergency steering assist operation may be cancelled:
• The accelerator pedal is strongly depressed
• The steering wheel is operated heavily or suddenly
• The brake pedal is depressed

●

Intersection collision avoidance support (left/right turn)

The intersection collision avoidance support (for left/right turning vehicles) will not operate

when the turn signal lights are not flashing.

PCS
ver-
sion

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles, bicy-
cles, pedestrians, motor-
cycles

Approximately 40 to 80
km/h (25 to 50 mph)

Active steering function:

to 80 km/h (

to 50 mph)

Approximately 40 to 80
km/h (25 to 50 mph)

Active steering function:

to 80 km/h (

to 50 mph)

PCS
version

Detectable
objects

Vehicle speed

Oncoming vehicle
speed

Relative speed
between your vehi-
cle and object

Oncoming vehi-
cles

Approximately 5 to
40 km/h (3 to 25
mph)

Approximately 5 to
75 km/h (3 to 45
mph)

Approximately 10
to 115 km/h (7 to
70 mph)

Pedestrians

Approximately 5 to
30 km/h (3 to 20
mph)



Approximately 5 to
40 km/h (3 to 25
mph)

Bicycles

Approximately 5 to
30 km/h (3 to 20
mph)



Approximately 5 to
50 km/h (3 to 30
mph)

Oncoming
motorcycles

Approximately 5 to
40 km/h (3 to 25
mph)

Approximately 5 to
75 km/h (3 to 45
mph)

Approximately 10
to 115 km/h (7 to
70 mph)

288

4-5. Using the driving support systems

●

Intersection collision avoidance support (crossing vehicles)



Vehicles without front side radars



Vehicles with front side radars

PCS version 1: When driving at approximately 40 km/h (29 mph) or more, this system will

only operate when the speed of the other vehicle is approximately 40 km/h (29 mph) or

less.
PCS version 1: The system operates only when the crossing vehicle speed is same as or less

than the vehicle speed.

●

Acceleration Suppression at Low Speed

The Acceleration Suppression at Low Speed function will not operate when the turn signal

lights are flashing.

PCS version 1: While the Acceleration Suppression at Low Speed function is operating, if

any of the following are performed, low speed sudden acceleration suppression operation

will be cancelled:
• The accelerator pedal is released
• The steering wheel is operated heavily or suddenly

■

Detection of detectable objects

Objects are detected based on their size,

shape, and movement.

Depending on the ambient brightness,

movement, posture and direction of a

detectable object, it may not be detected

and the system may not operate properly.

PCS

version

Detectable

objects

Vehicle speed

Crossing vehicle

speed

Relative speed

between your vehi-

cle and object

Vehicles, Motor-

cycles (side)

Approximately 5 to

60 km/h (3 to 38

mph)



Your vehicle

speed or less



Approximately

40 km/h or less

(25mph or less)

Approximately 5 to

60 km/h (3 to 38

mph)

PCS

version

Detectable

objects

Vehicle speed

Crossing vehicle

speed

Relative speed

between your vehi-

cle and object

Vehicles, Motor-

cycles (side)

Approximately 5 to

60 km/h (3 to 38

mph)

Approximately 50

km/h or less (31

mph or less)

Approximately 5 to

60 km/h (3 to 38

mph)

PCS

version Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,

stopped vehicles,

Pedestrians, Bicycles,

Wall

Approximately 0 to 15

km/h (0 to 9 mph)

Approximately 0 to 15

km/h (0 to 9 mph)

289

4-5. Using the driving support systems

Driving

The system detects shapes, such as the fol-

lowing, as detectable objects.

●

PCS version 1

●

PCS version 3

■

Situations in which the system may

operate even though the possibility of a

collision is not high

●

In certain situations, such as the following,

the system may determine that the possi-

bility of a collision is high and operate:

• When passing a detectable object

• When changing lanes while overtaking a

detectable object

• When suddenly approaching a detecta-

ble object

• When approaching a detectable object

or other object on the roadside, such as

guardrails, utility poles, trees, walls, etc.

• When there is a detectable object or

other object by the roadside at the

entrance of a curve

• When there are patterns or a painting

ahead of the vehicle that may be mistaken

for a detectable object

• When passing a detectable object that is

changing lanes or turning left/right

• When passing a detectable object which

is stopped to make a left/right turn

• When a detectable object stops immedi-

ately before entering the path of the vehi-

cle

• When passing through a location with a

structure above the road (traffic sign, bill-

board, etc.)

• When approaching an electric toll gate

barrier, parking lot barrier, or other bar-

rier that opens and closes

• PCS version 1: When turning left/right

and an oncoming vehicle or pedestrian

crosses in front of the vehicle

• PCS version 1: When attempting to turn

left/right in front of an oncoming vehicle

or pedestrian

• PCS version 1: When turning left/right

and an oncoming vehicle, oncoming

motorcycle, pedestrian or bicycle stops

or changes course immediately before

290

4-5. Using the driving support systems

entering the path of the vehicle

• PCS version 1: When turning left/right

and an oncoming vehicle turns left/right

in front of the vehicle

• PCS version 1: When the steering wheel

is operated toward the path of an oncom-

ing vehicle

• PCS version 1:When there is an object

moving above or under the road

■

Situations in which the system may not

operate properly

●

In certain situations, such as the following,

a detectable object may not be detected

by the front sensors, and the system may

not operate properly:

• When a detectable object is approaching

your vehicle

• When your vehicle or a detectable object

is wandering

• When a detectable object makes an

abrupt maneuver (such as sudden swerv-

ing, acceleration or deceleration)

• When suddenly approaching a detecta-

ble object

• When the detectable object is near a

wall, fence, guardrail, manhole cover,

steel plate on the road surface, or

another vehicle

• When there is a structure above a detect-

able object

• When part of a detectable object is hid-

den by another object (large luggage,

umbrella, guardrail, etc.)

• When multiple detectable objects are

overlapping

• When a bright light, such as the sun, is

reflecting off of a detectable object

• When a detectable object is white and

looks extremely bright

• When the color or brightness of a detect-

able object causes it to blend in with its

surroundings

• When a detectable object cuts in front of

or suddenly emerges in front of your

vehicle

• When approaching a vehicle which is

diagonal

• PCS version 3: If a vehicle ahead is a

motorcycle or bicycle

• PCS version 1: If a vehicle ahead is a child

sized bicycle, is carrying a large load, is

carrying an extra passenger, or has an

unusual shape (bicycles equipped with a

child seat, tandem bicycles, etc.)

• PCS version 1: If a pedestrian or bicycle is

shorter than approximately 1 m (3.2 ft.) or

taller than approximately 2 m (6.5 ft.).

• PCS version 1: When the silhouette of a

pedestrian or bicycle is unclear (such as

when they are wearing a raincoat, long

skirt, etc.)

• PCS version 1: When a pedestrian or

bicycle is bending forward or squatting

• PCS version 1: When a pedestrian or

bicycle is moving at high speed

• PCS version 1: When a pedestrian is

pushing a stroller, wheelchair, bicycle or

other vehicle

• When a detectable object blends in with

the surrounding area, such as when it is

dim (at dawn or dusk) or dark (at night or

in a tunnel)

• When the vehicle has not been driven for

a certain amount of time after the hybrid

system was started

• While turning left/right or a few seconds

after turning left/right

• While driving around a curve and a few

seconds after driving around a curve

• PCS version 1: When driving in a traffic

lane separated by more than one lane

where oncoming vehicles are driving

while making a right/left turn

• PCS version 1: When largely out of place

with the opposite facing targeted oncom-

ing vehicle during a right/left turn

291

4-5. Using the driving support systems

Driving

• PCS version 1: When turning left/right, a

pedestrian or bicycle behind the vehicle

comes in front of it as if it overtakes the

vehicle

• When at an intersection, the approaching

crossing vehicle is long in overall length,

such as a large truck, towing trailer, etc.

●

PCS version 1: In addition to the preced-

ing, in certain situations, such as the fol-

lowing, the emergency steering assist

may not operate properly:

• When a detectable object is too close to

the vehicle

• When there is insufficient space to per-

form evasive steering maneuvers or an

obstruction exists in the evasion direction

• When there is an oncoming vehicle

●

PCS version 1: In addition to the preced-

ing, in certain situations, such as the fol-

lowing, walls may not be detected as a

target object and the Acceleration Sup-

pression at Low Speed function may not

operate properly:



The pre-collision system can be
enabled/disabled through a custom-
ize setting. (



P.623)

The system is enabled each time the power
switch is turned to ON.



When the system is disabled, the
PCS warning light will illuminate
and a message will be displayed on
the multi-information display.



The pre-collision setting can be
changed on the customize settings.
(



P.623)



Vehicles with active steering func-
tion: When the pre-collision warn-
ing timing is changed, the
emergency steering assist timing
will also be changed. When “Later”
is selected, the emergency steering
assist (excluding the active steering
function) will not operate in most
cases.



Vehicles with a driver monitor cam-
era: When the system determines
that the driver is not facing forward,
the pre-collision warning and emer-
gency steering assist will operate at
the “Earlier” timing, regardless of
the user setting.



When the dynamic radar cruise
control is operating, the pre-colli-
sion warning will operate at the
“Earlier” timing, regardless of the
user setting.

Changing the pre-collision set-
ting

292

4-5. Using the driving support systems



When driving on a road with clear
lane lines with the dynamic radar
cruise control operating, lane lines
and preceding and surrounding
vehicles are detected using the front
camera and radar sensor, and the
steering wheel is operated to main-
tain the vehicle’s lane position.

Use the this function only on highways and
expressways.
If the dynamic radar cruise control is not
operating, the function will not operate.
In situations where the lane lines are diffi-
cult to see or are not visible, such as when
in a traffic jam, support will be provided
using the path of preceding and surround-
ing vehicles.
If the system determines that the steering
wheel has not been operated for a certain
amount of time or the steering wheel is not
being firmly gripped, the driver will be
alerted and this function will be temporarily
canceled.
If the steering wheel is firmly gripped, the
function will begin operating again.



When the function is operating, if
the vehicle is likely to depart from its
lane, the driver will be alerted via a
display and buzzer.

When the buzzer sounds, check the area
around the vehicle and carefully operate
the steering wheel to move the vehicle
back to the center of the lane.

LTA (Lane Tracing Assist)

LTA functions

293

4-5. Using the driving support systems

Driving

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA system detects lane lines or the

path of preceding or surrounding vehi-

cles.

●

The dynamic radar cruise control is oper-

ating.

●

The lane width is approximately 3 to 4 m

(10 to 13 ft.).

●

The turn signal lever is not being oper-

ated.

●

The vehicle is not being driven around a

sharp curve.

●

The vehicle is not accelerating or decel-

erating more than a certain amount.

●

The steering wheel is not being turned

with a large force.

●

The hands off steering wheel warning

(



P.294) is not operating.

●

The vehicle is being driven in the center

of a lane.

■

Temporary cancelation of functions

●

When the operating conditions are no

longer met, a function may be temporar-

ily canceled. However, when the opera-

tion conditions are met again, operation

of the function will automatically be

restored. (



P.293)

●

If the operating conditions of a function

are no longer met while the function is

operating, a buzzer may sound to indi-

cate that the function has been temporar-

ily canceled.

●

The steering assist operation of the func-

tion can be overridden by the steering

wheel operation of the driver.

■

Lane departure warning function when

the LTA is operating

●

Even if the LDA warning method is

changed to vibration of the steering

wheel, if the vehicle deviates from the

lane while the LTA is operating, the warn-

ing buzzer will sound to alert the driver.

●

If steering wheel operation equivalent to

that necessary for a lane change is

detected, the system will determine the

vehicle is not deviating from the lane and

the warning will not operate.

WARNING

■

Before using the LTA system

●

Do not overly rely on the LTA system.

The LTA system is not a system which

provides automated assistance in driv-

ing and it is not a system which reduces

the amount of attention necessary for

safe driving. The driver is solely

responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety. Also, the driver is responsible

for taking adequate breaks when

fatigued, such as when driving for a

long time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

●

When not using the LTA system, turn it

off using the LTA switch.

294

4-5. Using the driving support systems

■

Hands off steering wheel warning oper-

ation

●

When the system determines the driver is

not holding the steering wheel, a mes-

sage urging the driver to grip the steering

wheel and the icon shown in the illustra-

tion will be displayed on the multi-infor-

mation display to warn the driver. If the

system detects that the steering wheel is

held, the warning will be canceled. When

using the system, make sure to grip the

steering wheel firmly, regardless of

whether the warning is operating or not.

●

If no operations are detected for a certain

amount of time, the warning will operate

and the function will be temporarily

canceled. This warning may also operate

if the driver only operates steering wheel

a small amount continuously.

■

Situations in which the hands off steer-

ing wheel warning may not operate

properly

●

Depending on the condition of the vehi-

cle,handle control condition and road

surface, the warning function may not

operate.

●

Vehicles with LCA: In the following situa-

tions, the system may not be able to

detect when the driver’s hands are off the

steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the

steering wheel

• When the driver is gripping the wood

trim, seam of the leather, spokes, or other

part of the steering wheel that does not

have sensors

●

Vehicles with LCA: In the following situa-

tions, the hands off steering wheel warn-

ing may not operate and the LTA function

may continue operating even though the

driver’s hands are off the steering wheel:

• When something other than a hand is

contacting the steering wheel

• When a wide object or arms are held

across the steering wheel

The LTA will change between
ON/OFF each time the LTA switch is
pressed.

When the LTA is ON, the LTA indicator will
illuminate.



Vehicles without a head-updisplay



Vehicles with a head-up display

Enabling/disabling the system

295

4-5. Using the driving support systems

Driving

WARNING

■

Situations in which the functions may

not operate properly

In the following situations, the functions

may not operate properly and the vehicle

may depart from its lane. Do not overly

rely on these functions. The driver is

solely responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety.

●

When a preceding or surrounding

vehicle changes lanes (Your vehicle

may follow the preceding or surround-

ing vehicle and also change lanes)

●

When a preceding or surrounding

vehicle is swaying (Your vehicle may

sway accordingly and depart from the

lane)

●

When a preceding or surrounding

vehicle departs from a lane (Your vehi-

cle may follow the preceding or sur-

rounding vehicle and also depart from

the lane)

●

When a preceding or surrounding

vehicle is being driven extremely close

to the left/right lane line (Your vehicle

may follow the preceding or surround-

ing vehicle accordingly and depart

from the lane)

●

When there are moving objects or

structures in the surrounding area

(Depending on the position of the

moving object or structure relative to

your vehicle, your vehicle may sway)

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby

vehicles

●

Situations in which the sensors may not

operate properly:



P.275

●

Situations in which the lane may not be

detected:



P.276

●

When it is necessary to disable the sys-

tem:



P.270

297

4-5. Using the driving support systems

Driving

: If equipped

This function is linked to the LTA and
provides assistance in performing lane
changes through steering wheel oper-
ations.

Use the this function only on highways and
expressways.
The steering assist operation can be over-
ridden by the steering wheel operation of
the driver.
The lane change assist function is not
designed to operate when changing lanes
at a junction.

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA is operating.

●

The lane change assist function is ena-

bled by a customize setting.

●

The vehicle speed is between approxi-

mately 80 and 140 km/h (50 and 85

mph).

●

The system recognizes the current road

as a highway or expressway.

●

The system detects a broken white line on

the side which the lane change is to be

performed.

●

A vehicle is not detected in the lane

toward which the turn signal is operated.

●

The navigation system map data is cor-

rect.

●

The steering wheel is not being turned

with a large force.

●

The hands off steering wheel warning

LCA (Lane Change Assist)

LCA functions

WARNING

■

Before using the LCA system

●

Do not overly rely on the LCA system.

The LCA system is not a system which
provides automated assistance in driving
and it is not a system which reduces the
need for checking an adjacent lane for
other vehicles, approaching vehicles, etc.
when changing lanes. The driver is solely
responsible for paying attention to their
surroundings and operating the steering
wheel as necessary to ensure safety.
Also, do not use the LCA to change
lanes into which a lane change should
not be performed (oncoming lanes, road
shoulders, etc.).

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

298

4-5. Using the driving support systems

(



P.294) is not operating.

●

The system has detected a moving object

behind the vehicle at least once since the

hybrid system was started.

■

Cancelation of functions

In the following situations, operation of the

LCA may be canceled with the display and

buzzer:

●

When the operating conditions

(



P.297) are no longer met

●

When the system can no longer detect

lane lines

●

When the turn signal lever is operated to

the second position (



P.298)

●

When the turn signal lever is operated in

the opposite direction of the lane change

●

When the system detects operation of

the steering wheel, brake pedal or accel-

erator pedal by the driver.

●

The hands off steering wheel warning

(



P.298) is operating.

If the system detects that a vehicle is quickly

approaching in the lane toward which the

turn signal is operated a buzzer will sound

and a message will be displayed to alert the

driver. At the same time the steering wheel

may be slightly operated to help keep the

vehicle away from the approaching vehicle.

■

Hands off steering wheel warning oper-

ation

When the system determines the driver is

not holding the steering wheel, a message

urging the driver to grip the steering wheel

and the icon shown in the illustration will be

displayed on the multi-information display

to warn the driver. If the system detects that

the steering wheel is held, the warning will

be canceled. When using the system, make

sure to grip the steering wheel firmly,

regardless of whether the warning is oper-

ating or not.

■

Situations in which the hands off steer-

ing wheel warning may not operate

properly

●

Depending on the condition of the vehi-

cle, handle control condition and road

surface, the warning function may not

operate.

●

In the following situations, the system may

not be able to detect when the driver’s

hands are off the steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the

steering wheel

• When the driver is gripping the wood

trim, seam of the leather, spokes, or other

part of the steering wheel that does not

have sensors

●

In the following situations, the hands off

steering wheel warning may not operate

and the LCA function may continue

operating even though the driver’s hands

are off the steering wheel:

• When something other than a hand is

contacting the steering wheel

• When a wide object or arms are held

across the steering wheel

If the turn signal lever is held in the first
position, the lane change direction will
be displayed and the function will oper-
ate.

To change lanes by holding the turn signal
lever in the first position without using the
LCA, turn the customize setting of the
LCA off.

Operating the LCA

299

4-5. Using the driving support systems

Driving

First position: LCA is operational

Second position: LCA is not opera-
tional

LCA can be enabled/disabled through
a customize setting. (



P.623)

The operating state of the LCA system is indicated.

WARNING

■

Situations in which the LCA should

not be used

●

When driving on a one lane road

●

When there is no broken white line

between the current lane and the lane

to be changed to

Enabling/disabling the system

Displays and system operation

LCA display

Steering icon

Condition

Grey arrow and green line

Green

LCA on standby

Blue arrow and white line

Green

LCA is operating

301

4-5. Using the driving support systems

Driving

The LDA system warns the driver if the
vehicle may deviate from the current
lane or course

, and also can slightly

operate the steering wheel to help
avoid deviation from the lane or
course

The front camera is used to detect lane
lines or a course

: Boundary between the asphalt and

grass, soil, etc., or structures, such as a
curb, guardrail, etc.

■

Lane departure alert function

When the system determines that the
vehicle might depart from its lane or
course

, a warning is displayed on a

display, and either a warning buzzer
will sound or the steering wheel will
vibrate to alert the driver.

Check the area around your vehicle and
carefully operate the steering wheel to
move the vehicle back to the center of the
lane or course*.
Vehicles with BSM: If the system deter-
mines that the vehicle may collide with a
vehicle in an adjacent lane, the lane depar-
ture alert will operate even if the turn sig-
nals are operating.

: Boundary between the asphalt and

grass, soil, etc., or structures, such as a
curb, guardrail, etc.

■

Lane departure prevention func-
tion

If the system determines that the vehi-
cle is likely to depart from its lane or
course

, it provides assistance through

steering wheel operations to help
avoid deviation from the lane or
course

If the system determines that the steering
wheel has not been operated for a certain
amount of time or the steering wheel is not
being firmly gripped, a warning message
may be displayed and a warning buzzer
may sound to alert the driver.
Vehicles with BSM: If the system deter-
mines that the vehicle may collide with a
vehicle in an adjacent lane, the lane depar-
ture prevention function will operate even
if the turn signals are operating.

: Boundary between the asphalt and

grass, soil, etc., or structures, such as a
curb, guardrail, etc.

LDA (Lane Departure Alert)

Basic functions

302

4-5. Using the driving support systems

■

Break suggestion function

If the vehicle is swaying, a message will
be displayed and a buzzer will sound to
urge the driver to take a break.

■

Operating conditions of each function

●

Lane departure alert/prevention function

This function is operable when all of the fol-

lowing conditions are met:

• The vehicle speed is approximately 50

km/h (30 mph) or more.

Operation may be possible when the vehi-
cle speed is approximately 40 km/h (25
mph) or more if vehicles, motorcycles,
bicycles, or pedestrians are detected near
the lane.
• The system recognizes a lane or course

(When recognized on only one side, the

system will operate only for the recog-

nized side.)

• The lane width is approximately 3 m (9.8

ft.) or more.

• The turn signal lever is not being oper-

ated.

(Vehicles with BSM: Except when a vehicle
is detected in the direction that the turn
signal lever is operated.)
• The vehicle is not being driven around a

sharp curve.

• The vehicle is not accelerating or decel-

erating more than a certain amount.

WARNING

■

Before using the LDA system

●

Do not overly rely on the LDA system.

The LDA system is a system which pro-

vides automated assistance in driving.

However, as it is not a system which

reduces the amount of attention nec-

essary for safe driving. The driver is

solely responsible for paying attention

to their surroundings and operating

the steering wheel as necessary to

ensure safety. Also, the driver is

responsible for taking adequate

breaks when fatigued, such as when

driving for a long time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

303

4-5. Using the driving support systems

Driving

• The steering wheel is not being turned

sufficiently to perform a lane change.

• When the VSC or TRC system is not

turned off.

: Boundary between the asphalt and

grass, soil, etc., or structures, such as a
curb, guardrail, etc.

■

Temporary cancellation of functions

When the operating conditions are no

longer met, a function may be temporarily

canceled. However, when the operation

conditions are met again, operation of the

function will automatically be restored.

(



P.302)

■

Operation of the lane departure alert

function/lane departure prevention

function

●

Depending on the vehicle speed, road

conditions, lane departure angle, etc.,

operation of the lane departure preven-

tion function may not be felt or the func-

tion may not operate.

●

Depending on the conditions, the warn-

ing buzzer may operate even if vibration

is selected through a customize setting.

●

If a course

is not clear or straight, the

lane departure alert function or lane

departure prevention function may not

operate.

●

The lane departure alert function or lane

departure prevention function may not

operate if the system judges that the vehi-

cle is intentionally being steered to avoid

a pedestrian or parked vehicle.

●

Vehicles with BSM: It may not be possible

for the system to judge if there is danger

of a collision with a vehicle in an adjacent

lane.

●

Vehicles with a driver monitor camera:

Depending on the driver condition, the

lane departure alert function or lane

departure prevention function changes

the timing of operation.

●

The steering assist operation of the lane

departure prevention function can be

overridden by the steering wheel opera-

tion of the driver.

: Boundary between the asphalt and

grass, soil, etc., or structures, such as a
curb, guardrail, etc.

■

Hands off steering wheel warning oper-

ation

In the following situations, a message urging

the driver to operate the steering wheel and

an icon will be displayed and a buzzer will

sound to warn the driver. When using the

system, make sure to grip the steering

wheel firmly, regardless of whether the

warning is operating or not.

●

When the system determines that the

driver is not securely holding the steering

wheel, or the steering wheel is not being

operated when the steering assist opera-

tion of the lane departure prevention

function is operating

The length of time that the warning buzzer
operates will become longer as the fre-
quency of the steering assist operating
increases. Even if the system judges that
the steering wheel has been operated, the
warning buzzer will sound for a certain
amount of time.

■

Break suggestion function

This function is operable when all of the fol-

lowing conditions are met:

●

The vehicle speed is approximately 65

km/h (40 mph) or more.

●

The lane width is approximately 3 m (9.8

ft.) or more.

Depending on the condition of the vehicle

and road surface, the break suggestion

function may not operate.

304

4-5. Using the driving support systems

Vehicles without a head-up display: Press
the

meter control switch to turn off the

message.
Vehicles with a head-up display: Press the

steering switch to turn off the message.

Unless

is pressed, the message

of the break suggestion function will remain

displayed.



The LDA system can be ena-
bled/disabled through a customize
setting. (



P.623)



The settings of the LDA can be
changed on the customize settings.
(



P.623)

The operating state of the lane departure alert function and steering assist opera-
tion of the lane departure prevention function are indicated.

Changing LDA settings

WARNING

■

Situations in which the system may

not operate properly

In the following situations, the system

may not operate properly and the vehicle

may depart from its lane. Do not overly

rely on these functions. The driver is

solely responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety.

●

When the boundary between the

asphalt and grass, soil, etc., or struc-

tures, such as a curb, guardrail, etc. is

not clear or straight

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby

vehicles

●

Situations in which the lane may not be

detected:



P.276

●

Situations in which the sensors may not

operate properly:



P.275

●

Situations in which some or all of the

functions of the system cannot oper-

ate:



P.276

●

When it is necessary to disable the sys-

tem:



P.270

Displays and system operation

305

4-5. Using the driving support systems

Driving

Indicator

Lane display Steering icon

Situation

Orange

Illuminated

Not illumi-

nated

Not illumi-

nated

System disabled

Not illumi-

nated

Grey

Not illumi-

nated

Lane lines are not detected by the system

Not illumi-

nated

White

Not illumi-

nated

Lane lines are detected by the system

Orange
Flashing

Not illumi-

nated

Lane departure alert function is operating
for the side which the lane display is flashing

Green

Lane departure prevention function is oper-
ating for the side which the lane display is
illuminated

Orange
Flashing

Green

Lane departure alert function/lane depar-
ture prevention function is operating for the
side which the lane display is flashing

306

4-5. Using the driving support systems

: If equipped

According to the driving conditions, the operation and detectable objects of the
proactive driving assist will change as follows.

PDA (Proactive driving
assist)

When a detectable object
(



P.306) is detected, the proac-

tive driving assist operates the
brakes and steering wheel to help
prevent the vehicle from approach-
ing too close to the object.

WARNING

■

For safe use

Driving safely is solely the responsibility

of the driver.

●

The proactive driving assist is designed

to provide some assistance for regular

braking and steering operations, as

well as helping to prevent the vehicle

from approaching too close to a

detectable object. However, the scope

of this assistance is limited.

The driver should perform brake and

steering operations as necessary. Read

the following items carefully. Do not

overly rely on the proactive driving assist

and always drive carefully. (



P.308)

●

The proactive driving assist is not a sys-

tem which reduces the amount of

attention necessary for safe driving.

Even if the system is operating cor-

rectly, the surrounding conditions as

recognized by the driver and detected

by the system may differ. It is necessary

for the driver to pay attention, assess

risks, and ensure safety. Over-reliance

on this system to drive the vehicle

safely may lead to an accident result-

ing in death or serious injury.

●

Proactive driving assist is not a system

which allows for inattentive driving and

is not a system which assists in poor

visibility conditions. The driver is solely

responsible for paying attention to

their surroundings and driving safely.

■

When turning proactive driving assist

off

●

Situations in which the sensors may not

operate properly:



P.275

●

When it is necessary to disable the sys-

tem:



P.270

System operating conditions and detectable objects

307

4-5. Using the driving support systems

Driving

■

Vehicle speeds at which the system can

operate

●

Detectable object crossing the road

assistance

Approximately 30 to 60 km/h (20 to 35
mph)

●

Detectable object on the side of the road

assistance

Approximately 30 to 60 km/h (20 to 35

Function

Conditions

Operation

Detectable objects

Obstacle Antici-
pation Assist

A detectable object is
detected crossing the
road

Assistance with some
brake operations is pro-
vided in order to reduce
the possibility of a colli-
sion.



Pedestrians



Bicyclists

A detectable object is
detected on the side
of the road

Assistance with some
brake and steering wheel
operations are provided
according to the sur-
rounding conditions to
help prevent the vehicle
from approaching too
close to a detected
object.
Assistance with steering
wheel operations is pro-
vided within a range that
the vehicle will not devi-
ate from its current lane.



Pedestrians



Bicyclists



Parked vehicles

Deceleration
Assist

A preceding vehicle
or an adjacent vehicle
cutting in front of the
vehicle is detected

The vehicle is gently
decelerated so that the
vehicle-to-vehicle dis-
tance will not be exces-
sively short.



Preceding vehicles



Motorcycles

A curve is detected
ahead of the vehicle

The vehicle is gently
decelerated if the vehicle
speed is determined to
be too high for the curve
ahead.

None

Steering Assist
(vehicles with a
Steering Assist)

Lane is detected

The system anticipates
the driver’s operation
and supports the opera-
tion of the steering
wheel.

None

308

4-5. Using the driving support systems

mph)

●

Preceding vehicle deceleration assis-

tance

Approximately 20 km/h (15 mph) or more

●

Curve deceleration assistance

Approximately 20 km/h (15 mph) or more

●

Vehicles with a Steering Assist: Steering

assist within a lane

Approximately 10 to 140 km/h (5 to 80
mph)

■

System operation will be canceled when

●

In the following situations, system opera-

tion will be canceled:

• When the dynamic radar cruise control

or cruise control is operating

• When the PCS is off

• Situations in which some or all of the

functions of the system cannot operate:



P.276

• When the P, R or N shift position is

selected

●

In the following situations, the brake

operation assist will be canceled:

• Approximately 15 km/h (9 mph) or less

• When a certain vehicle speed has been

reached, as judged by the system,

according to the surrounding conditions

●

In the following situations, system opera-

tion may be canceled:

• When the brake control or output restric-

tion control of a driving support system

operates

(For example: PCS, drive-start control)
• When the system determines that a

detected object has moved away from

the vehicle

• When lane lines can no longer be

detected

• When the brake pedal has been

depressed

• When the accelerator pedal has been

depressed

• When the steering wheel has been oper-

ated with more than a certain amount of

force

• When the turn signal lever is operated to

the left/right turn position

WARNING

■

Situations in which the system may

not operate properly

●

Situations in which the lane may not be

detected:



P.276

●

When a detectable object stops

immediately before entering the path

of the vehicle

●

When passing extremely close to a

detectable object behind a guardrail,

fence, etc.

●

When changing lanes while overtaking

a detectable object

●

When passing a detectable object that

is changing lanes or turning left/right

●

When there are objects (guardrails,

power poles, trees, walls, fences, poles,

traffic cones, mailboxes, etc.) in the

surrounding area

●

When there are patterns or a painting

ahead of the vehicle that may be mis-

taken for a detectable object

●

When passing through a place with a

low structure above the road (tunnel

with a low ceiling, traffic sign, sign-

board, etc.)

●

When driving on snowy, icy, or rutted

roads

●

When a detectable object is

approaching your vehicle

●

When your vehicle or a detectable

object is wandering

●

When the movement of a detectable

object changes (change in direction,

sudden acceleration or deceleration,

etc.)

●

When suddenly approaching a detect-

able object

309

4-5. Using the driving support systems

Driving



The proactive driving assist can be
enabled/disabled through a custom-
ize setting. (



P.623)



The following settings of the proac-
tive driving assist can be changed
through customize settings.
(



P.623)

WARNING

●

When a preceding vehicle or motor-

cycle is not directly in front of your

vehicle

●

When there is a structure above a

detectable object

●

When part of a detectable object is

hidden by another object (large lug-

gage, umbrella, guardrail, etc.)

●

When multiple detectable objects are

overlapping

●

When a bright light, such as the sun or

headlights of another vehicle, is

reflecting off of the detectable object

●

When the detectable object is white

and looks extremely bright

●

When the color or brightness of the

detectable object causes it to blend in

with its surroundings

●

When a detectable object cuts in front

of or emerges from beside a vehicle

●

When approaching a vehicle ahead

which is perpendicular or at an angle

to the vehicle, or is facing the vehicle

●

If a parked vehicle is perpendicular or

at an angle to the vehicle

●

When a bicycle is a child sized bicycle,

is carrying a large load, is carrying an

extra passenger, or has an unusual

shape (bicycles equipped with a child

seat, tandem bicycles, etc.)

●

When a pedestrian or bicyclist is

shorter than approximately 1 m (3.2 ft.)

or taller than approximately 2 m (6.5

ft.)

●

When the silhouette of a pedestrian or

bicyclist is unclear (such as when they

are wearing a raincoat, long skirt, etc.)

●

When a pedestrian or bicyclist is

bending forward or squatting

●

When a pedestrian or bicyclist is mov-

ing at high speed

●

When a pedestrian is pushing a

stroller, wheelchair, bicycle or other

vehicle

●

When a detectable object blends in

with the surrounding area, such as

when it is dim (at dawn or dusk) or

dark (at night, in a tunnel, etc.)

●

When the lane width is 4 m (13.1 ft.) or

●

When the lane width is 2.5 m (8.2 ft.)

m or less

●

When the vehicle has not been driven

for a certain amount of time after the

hybrid system was started

●

While turning left or right or a few sec-

onds after turning left or right

●

While changing lanes or a few seconds

after changing lanes

●

When entering a curve, driving around

a curve and a few seconds after driving

around a curve

Changing proactive driving
assist settings

310

4-5. Using the driving support systems

Depending on the situation, the following indicators or icons will be displayed.
Some icons cannot be displayed unless the display is changed to the driving safety
support function information screen.

■

Hands off steering wheel warning oper-

ation

In the following situations, a message urging

the driver to grip the steering wheel and the

icon shown in the illustration will be dis-

played on the display to warn the driver. If

the system detects that the steering wheel is

held, the warning will be canceled. When

using the system, make sure to grip the

steering wheel firmly, regardless of whether

the warning is operating or not.

System operation display

Icon

Meaning



White: Monitoring for detectable objects



Green: Detectable object crossing the road or detectable object on
the side of the road assistance operating

A pedestrian has been detected as crossing the road or on the side of
the road and brake or steering assistance is operating

A vehicle has been detected on the side of the road and brake or steer-
ing operation assistance is being performed



Steering operation assistance is being performed to prevent the
vehicle from approaching too close to a detectable object on the
side of the road



Vehicles with a Steering Assist: When the steering assist is operating

Preceding vehicle deceleration assistance is being performed

Warning to maintain appropriate vehicle-to-vehicle distance

Curve deceleration assistance is being performed

311

4-5. Using the driving support systems

Driving

●

When assistance to a detectable object

crossing the road or assistance to a

detectable object on the side of the road

is performed and the system determines

the driver is not holding the steering

wheel

If no operations are detected for a certain
amount of time, a buzzer will sound, the
warning will operate. This warning may
also operate if the driver only operates
steering wheel a small amount continu-
ously.

■

Warning operation after preceding

vehicle deceleration assistance has

ended

After preceding vehicle deceleration assis-

tance has ended, if the driver does not

operate the brake pedal or accelerator

pedal and the vehicle approaches the

preceding vehicle, the display will flash and

a buzzer will sound to urge the driver to

decelerate. If the system determines that

the driver is operating the brake pedal or

accelerator pedal, the warning will be

canceled.

: If equipped



When the system detects a vehicle
approaching from the left or right in
front of your vehicle when
approaching an intersection, a noti-
fication will be displayed.

• Head-up display



When the system determines that
your vehicle may be about to enter
an intersection even though a vehi-
cle is approaching from the left or
right in front of your vehicle, a
buzzer will sound and a message
will be displayed to urge you to
depress the brake pedal.

FCTA (Front Crossing Traffic
Alert)

When approaching an intersec-
tion, etc., at a low speed, vehicles
approaching from the left and right
of the front of the vehicle can be
detected and the driver informed of
these vehicles.

FCTA system control

312

4-5. Using the driving support systems

• Multi-information display

■

FCTA system operating conditions

The system will operate when all of the fol-

lowing conditions are met:

●

A shift position other than P or R is

selected

●

The vehicle speed is approximately 15

km/h (10 mph) or less

●

A vehicle is approaching from the left or

right in front of your vehicle at a speed

between approximately 10 to 60 km/h (7

to 37 mph)

●

There are no vehicles in front of your

vehicle

●

The accelerator pedal is not being

strongly depressed

●

The brake pedal is not being strongly

depressed

■

Situations in which the system may

operate even though no vehicles are

approaching

In certain situations, such as the following,

the system may operate even though no

vehicles are approaching:

●

When approaching objects on the road-

side, such as guardrails, traffic signs, util-

ity poles, street lights, trees, tall grass,

walls, etc.

●

When passing an object on the side of the

road, such as a parked vehicle

●

When a vehicle or pedestrian is

approaching from the left or right in front

of your vehicle in the distance

●

When a vehicle or pedestrian is moving

within a parking spot, etc., next to the lane

your vehicle is in

●

When a pedestrian or bicyclist is

approaching on a sidewalk

●

When a vehicle or pedestrian is moving

away from your vehicle

●

When an approaching vehicle is deceler-

ating or stops

●

When an approaching vehicle makes a

left/right turn immediately in front of your

vehicle

●

When a pedestrian is approaching your

vehicle

●

When an oncoming vehicle makes a

right/left turn

●

When your vehicle enters an intersection

before a vehicle approaching from the

left or right in front of your vehicle

●

When stopped at traffic light and a vehi-

cle approaches from the left or right in

front of your vehicle

●

When making a left/right turn in front of

an approaching vehicle

WARNING

■

For safe use

Driving safely is solely the responsibility

of the driver. Pay careful attention to the

surrounding conditions in order to

ensure safe driving.

The FCTA system is a supplementary

system that informs the driver of vehicles

approaching from the left and right of the

front of the vehicle.

Over-reliance on this system may lead to

an accident resulting in death or serious

injury.

The details of the warning display may

differ from the actual traffic conditions.

Although the warning display will stop

being displayed after a certain amount of

time, this does not necessarily indicate

that there are no longer any vehicles or

pedestrians around your vehicle.

313

4-5. Using the driving support systems

Driving

●

When an oncoming vehicle approaches

and passes

●

When being overtaken by another vehi-

cle

●

When driving next to another vehicle or a

pedestrian

●

When a vehicle or pedestrian

approaches the side of your vehicle

■

Situations in which the system may not

operate properly

In situations such as the following, a vehicle

may not be detected by a front side radar

sensor and the system may not operate

properly:

●

If an approaching vehicle moves sud-

denly (sudden steering, acceleration,

deceleration, etc.)

●

If a vehicle is approaching from the left or

right of the front of your vehicle diago-

nally

●

When a vehicle is approaching from the

left or right in front of your vehicle in the

distance

●

When there is an object between your

vehicle and an approaching vehicle

●

When several vehicles are approaching

with little space between them

●

Situations in which the sensors may not

operate properly:



P.275

●

Situations in which some or all of the

functions of the system cannot operate:



P.276



The FCTA can be enabled/disabled
through a customize setting.
(



P.623)



The following settings of the FCTA
can be changed through customize
settings. (



P.623)

Changing FCTA settings

314

4-5. Using the driving support systems

: If equipped



When the front camera detects a
sign or information of a sign is avail-
able from the navigation system, the
sign will be displayed on the display.



Multiple signs can be displayed.

Depending on the specifications of the
vehicle, the number of displayed signs may
be limited.

■

Operating conditions of sign display

Signs will be displayed when the following

conditions are met:

●

The system has detected a sign

In the following situations, a displayed sign

may stop being displayed:

●

When a new sign has not been detected

for a certain distance

●

When the system determines that the

road being driven on has changed, such

as after a left or right turn

■

Situations in which the display function

may not operate properly

In the following situations, the RSA system

may not operate properly and may not

detect signs or may display the incorrect

sign. However, this does not indicate a mal-

function.

●

When a sign is dirty, faded, tilted or bent

●

When the contrast of an electronic sign is

low

RSA (Road Sign Assist)

The RSA system detects specific
road signs using the front camera
and/or navigation system (when
speed limit information is available)
and warns the driver via displays
and buzzers.

Vehicles with connected naviga-
tion (with built-in navigation sys-
tem): In order to maintain
performance of the speed limit dis-
play function, it is necessary to
update map data

on a regular

basis.

: For details about updates, refer to the

separate “MULTIMEDIA OWNER’S
MANUAL”.

WARNING

■

For safe use

●

Regardless of the availability of RSA

display/buzzer, including conditional

speed limit alert, it is the driver who is

solely responsible for driving safely

and abiding by the regulations. There-

fore, do not overly rely on this system.

The driver is solely responsible for

paying attention to the vehicle’s

surroundings and driving safely.

●

Do not rely solely upon the RSA. The

RSA assists the driver by providing

road sign information, but it is not a

replacement for the driver’s own vision

and awareness. Driving safely is solely

the responsibility of the driver. Pay

careful attention to the surrounding

conditions in order to ensure safe driv-

ing.

■

Situations in which the RSA should

not be used

●

When it is necessary to disable the sys-

tem:



P.270

■

Situations in which the system may

not operate properly

●

Situations in which the sensors may not

operate properly:



P.275

Display Function

315

4-5. Using the driving support systems

Driving

●

When all or part of a sign is hidden by a

tree, utility pole, etc.

●

When a sign is detected by the front cam-

era for a short amount of time

●

When the driving state (turning, chang-

ing lanes, etc.) is judged incorrectly

●

When a sign is immediately after a free-

way junction or in an adjacent lane just

before merging

●

When stickers are attached to the rear of

a preceding vehicle

●

When a sign similar to a system compati-

ble sign is detected as a system compati-

ble sign

●

When a speed limit sign for a frontage

road is within detection range of the front

camera

●

When driving around a roundabout

●

When a sign intended for trucks, etc. is

detected

●

When the vehicle is driven in a country

with a different direction of traffic

●

When the navigation system map data is

out of date

●

When the navigation system cannot be

used

In this case, the speed limit signs displayed

on the multi-information display and navi-

gation system display may differ.

In the following situations, the RSA sys-
tem will output a warning to notify the
driver.



If the vehicle speed exceeds the
speed warning threshold of the
speed limit sign displayed on the
display, the sign display will be
emphasized and a buzzer will
sound.

Also when the limit speed to be displayed
is changed due to the change of driving

zones, etc., the sign display will be empha-
sized and a buzzer will sound

to alert the

driver.

: The availability of emphasized display

and buzzer depends on the country
where the vehicle is available.



When the RSA system detects a
no-entry sign and determines that
the vehicle has entered the no-entry
area based on the map information
of the navigation system, the
no-entry sign displayed on the
multi-information display will flash
and a buzzer will sound. (vehicles
with a navigation system)

■

Operating conditions of the notification

functions

●

Excess speed notification function

This function will operate when the follow-

ing condition is met:

• A speed limit road sign is recognized by

the system.

●

No entry notification function

This function will operate when all of the

following conditions are met:

• More than one no entry road signs are

recognized by the system simultaneously.

• The vehicle is passing between no entry

road signs recognized by the system.

• The vehicle is equipped with an on-board

navigation system.



The following types of road signs
can be displayed.

However, non-standard or recently intro-
duced traffic signs may not be displayed.

Notification function

Types of road signs supported

316

4-5. Using the driving support systems



Speed limit road signs

: No speed limt information

is dis-

played when neither speed limit road
sign nor speed limit related information
is available.



Speed limit related information

*1, 2

: Displayed when a sign is detected but

speed limit information for the road is

not available from the navigation sys-

tem.

: No speed limt information

is dis-

played when neither speed limit road

sign nor speed limit related information

is available.



No overtaking road signs



Other road signs

: For vehicles with a navigation system

Speed limit begins/Maxi-
mum speed zone begins

Speed limit ends/Maxi-
mum speed zone ends

Motorway

Motorway exit

Expressway

Expressway exit

Urban area beginning

Urban area ending

Residential area beginning

Residential area ending

No overtaking begins

No overtaking ends

No-entry

End of prohibition

Stop

Warning

Lexus RX (2023 year). Manual in english - page 9